Robot agua-feeder

Abstract

This invention generally relates to a fully automatic operation system for feeder and more specifically to an unmanned apparatus which is fully automated so that the self-guiding, charging, and scheduled feed-spraying by the apparatus can be achieved. In accordance with the invention, the cooperation between a plurality of electric eyes and a control unit is utilized to command a plurality of motors for controlling the moving direction of the apparatus. A wharf having a charging device and a position device is also provided so that the batteries in the apparatus can be charged after each navigational turn on the apparatus.

I claim: 
     
       1. An automatic guiding, charging, and timed feed-spraying feeder system, which comprises: a. a floatable main body; the body having sides and at each side thereof having a power box; batteries on the body; a propelling motor in each power box, the propelling motors connected with the batteries for being powered; the fore end carrying a steering motor; the steering motor being mounted in a direction perpendicular to the moving direction of the body;   b. a forward supporting member extending forward from the body and a first photoelectric sensor mounted thereon;   c. a sideward supporting member extending transversely from the body and a side photoelectric sensor mounted thereon;   d. a central photoelectric sensor mounted at a central portion of the body;   e. a control unit which is connected to the sensors to receive the signals from the photoelectric sensors and is connected to and controls the rotational speed of the motors;   f. a feed storage tank in the central portion of the body, a narrow opening provided at the bottom of the tank; a blower, a 3-way tube having two branches connected with the exterior of the tank, and a third branch connected to the blower, the blower being also connected to and under the command of the control unit;   B. an automatic charging device including: a. fixed parts and a wharf which comprises two groups of floats movably and slidably attached to corresponding fixed posts, each of the posts being connected to a continuous tube extending along the wharf;   b. a plurality of pulleys; the pulleys being movable and rotatably provided at the two sides of the body for cooperation with the tubes of the wharf;   c. a charging post provided at the fore end of one side of the body; the charging post having two sides thereof on which are provided two conducting plates connected to the positive and negative poles of the batteries and an insulation cushion provided between the conductive plates;   d. an orienting post provided at the rear end of the one side of the body;   e. charging means comprising a set of conductive terminals which are connected to the positive and negative poles of the batteries and have arcuate shape, the charging means being attached to one of the floats and being arranged in the position corresponding to the conductive plates of the charging post;   f. a magnetically controlled positioning device which forms a gate which be opened at timed intervals to allow the body to pass;   g. a stop device engaging the body against backward movement and which comprises a one-way pin, a spring, and a directing tube, and which is in cooperation with the positioning device such that the conductive plates of the charging post can be positioned to contact the conductive terminals in carrying out the charging operation;   h. a stopping rod placed for being sensed by the central photoelectric sensor which can send a signal to the control unit which then can command all the power from the batteries to the motors to be cut off; whereby, owing to the cooperation between the photoelectric sensors and the control unit for commanding the motors to control the moving direction of the body, automatic guidance and timed feed-spraying are achieved; and the batteries in the body are charged after each navigational turn of the body to obtain the capability of continuous navigation.       
     
     
       2. The automatic guiding, charging, and timed feed-spraying feeder system according to claim 1, wherein the control unit is provided with a receiving antenna and a radio receiver connected to the control unit so that the moving direction of the body can be controlled by a remote control. 
     
     
       3. An automatic guiding, charging and timed feed-spraying feeder system comprising: a floatable main body, the body having opposite sides; a respective propelling motor, including a propeller for the body, at each of the opposite sides of the body, the body having an end, a steering motor including a propeller mounted at the end of the body, the steering motor propeller being mounted in a direction perpendicular to the moving direction of the body; electric batteries connected with the motors for electrically powering the motors to operate;   at least one supporting member extending from the body and a photoelectric sensor mounted thereon for sensing the position of the body as it moves with respect to obstacles; a control unit for receiving siganls from the at least one photoelectric sensor, the control unit being connected with the motors for controlling the operation and speed of the motors for controlling the motion of the body and the turning of the body;   a storage tank for feed supported on the body, feed dispensing means supported on the body and operable for dispensing feed from the tank;   an automatic charging device for the electric batteries for the motors comprising:   a wharf at which the body is to be positioned for charging the batteries; cooperating positioning means at the wharf and on the body for positioning the body at the wharf for charging the batteries; electric charge receiving means provided on the body and connected with the batteries for delivering electric charge to the batteries for charging the batteries; electric charge providing means disposed at the wharf and positioned for engaging and contacting the charge receiving means on the body for supplying electric charge to the charge receiving means; and   means for positioning the body at the wharf for receiving the charge for a time interval sufficient to charge the batteries.   
     
     
       4. The feeder system according to claim 3, wherein the means for dispensing feed comprises a blower communicating into the feed storage tank, and a conduit from the feed storage tank for transmitting feed blown from the tank by the blower; the blower being connected with the control unit for being operated by the control unit. 
     
     
       5. The feeder system according to claim 3, wherein the means for positioning comprises a magnetically controlled positioning device for the body which acts as a gate for maintaining the delivery of charge from the charge providing means to the charge receiving means for a predetermined time interval and for disengaging the charge providing means from the charge receiving means following the time interval, for permitting the body to move away from the wharf and continue the automatic feeding.